System of confining robot movement actions and a method thereof

ABSTRACT

A system and method of confining movement actions of a robot is provided. The system has a virtual wall device and a robot. The virtual wall device receives a barrier detection signal in a set receiving range and emits a virtual wall signal by which a work space is divided into a first work area and a second work area. The robot emits the barrier detection signal during movements and is prepared to receive the virtual wall signal. When the robot moves to the set emitting range of the virtual wall signal, it steps across or stays away from that range in accordance with a saved history record. The system is able to confine the robot in the first work area or the second work area.-

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a robot, particularly a system of confining movement actions of a robot and a method thereof

2. Description of Related Art

A cleaning robot is an automatic mobile device which autonomously moves and operates to clean a space without the control of user. It is primarily used in an indoor place such as family house or office to independently complete cleaning work of the ground, which may include floor wiping with the aid of a broom, or vacuuming of trash, dust, etc. into the dust chamber.

However, the cleaning robot still has many restrictions when it is applied in practical uses. For example, the lay-out of furnishings or furniture usually differs in each family house or office. Even in the same space, the relative position of items is subject to change at different schedules. Therefore, a fixed cruising route can be an imperfect mode of practical control for cleaning robots.

Thus, in order to prevent an operating cleaning robot from bumping into obstacles, such as furniture or walls, or falling off from a balcony or stairs without a barrier, barrier devices (virtual wall devices) are used, which send a barrier signal outward for constraining non-passable locations in the space of operation. At least one receiver unit is set on the operating cleaning robot for receiving the corresponding barrier signal to respond. Therefore, the cleaning robot may move backward or dodge before a collision or fall occurs.

Take a previous case for instance, a method of confining a robot is provided in U.S. Pat. No. 7,579,803 which comprises a portable barrier signal transmitting device and a mobile robot. The portable barrier signal transmitting device emits a signal along an axis for creating of a virtual barrier area which is non-passable to the robot. Said mobile robot therefore detects and keeps itself away from that signal. In an embodiment of that case, said signal is an infrared frequency emission and the robot has an omni-directional RCON detector. Once the barrier signal is detected, the robot would be redirected to another direction in accordance with the determination of a barrier avoidance algorithm. Said robot can effectively avoid any unexpected collision or falling as mentioned above until it no longer detects the barrier signal.

However, since the portable barrier signal transmitting device in U.S. Pat. No. 7,579,803 emits signals outward continuously, it keeps consuming energy stored in the batteries. Because battery is still the major power resource for the portable barrier signal transmitting device, using large-size batteries can provide more power to the device but the enlargement of the volume of the device is inevitable. The importance of the comprehensive application, the flexible furnishings lay-out of space and the energy saving economic seems hard to balance.

An improved method is developed in China Patent 102048499 for ameliorating the drawbacks of portable barrier signal transmitting device mentioned above. It provides a mobile robot system and a control method thereof, comprising a mobile robot which emits signals in movement areas and a beacon machine (a machine functional equivalent to the portable barrier signal transmitting device in U.S. Pat. No. 7,579,803). When a signal from the mobile robot is detected within the FOV (Field of View) of a remote control reception module of the beacon machine, said beacon machine transmits a response signal to the mobile robot for replying instead of transmitting signals all the time. As such, the mobile robot is successfully directed by the response signal for the cleaning of different rooms and the power consumption of the beacon machine is reduced.

Though the problem of uneconomical power consumption in U.S. Pat. No. 7579803 is resolved in use of the technique of CN102048499, the complicated structure of said beacon machine become another issue because it is necessary to have more components assembled in the manufacturing process of the beacon machine. This raises the cost of materials and assembling. Comparing said issue of cost with the previous problem of power consumption, it is difficult to say that the progression of patent CN102048499 totally overcomes the drawbacks of patent U.S. Pat. No. 7579803. Thus, providing a simple structural and energetically efficient beacon machine or portable barrier signal transmitting device is a target for persons skilled in the art.

SUMMARY OF THE INVENTION

The present invention relates to a virtual wall device which has a simple structure and is electricity efficiency, for replacing a beacon or a portable barrier signal transmitting device found in the prior arts. The present invention also relates to a robot which confines movements of itself but acts autonomously according to a virtual wall signal emitted from the virtual wall device. The present invention provides an economical resolution to the problem of high energy consumption and overcomes the complicated assembly of components.

For said purpose, a system of confining robot movement actions is therefore developed and comprises a virtual wall device set in a work space for receiving a detection signal in a set receiving range. Said virtual wall device further emits a virtual wall signal in a set emitting range, divides the work space into a first work area and a second work area when receiving the barrier detection signal, and stops emitting said virtual wall signal when no longer receiving the barrier detection signal.

Furthermore, a robot operates in the work space emitting the barrier detection signal and receiving said virtual wall signal in the set emitting range of the virtual wall device, and decides to cross or not to cross the set emitting range in order to confine the robot to operating in the first work area or the second work area.

For said purpose, a method of confining robot movement actions applied among a virtual wall device and a robot is therefore invented and comprises the following steps:

emitting a barrier detection signal of the robot which is moving in a work space;

detecting and receiving the barrier detection signal of the virtual wall device in a set receiving range within the work space, wherein the receiving of the barrier detection signal of the virtual wall device triggers the emitting of a virtual wall signal of the virtual wall device, dividing the work space into a first work area and a second work area;

receiving the virtual wall signal of the robot, wherein the receiving of the virtual wall signal of the robot further is the basis for the robot to pass or escape from the set emitting range of the virtual wall signal, confining the moving of the robot in the first work area or the second work area.

Compared with related features in previous systems and methods, said system of robot confining movement actions and the method thereof in the present invention disclosure has at least the following advantages:

1. It is functionally necessary for a robot to emit a signal for avoiding obstacles as well as for receiving external control signals for responding. Hence, cost of the development is ignorable since there is no need for settling new components on the robot.

2. Said virtual wall device only emits the virtual wall signal while detecting the barrier detection signal, thereby providing better energy efficiency than other conventional techniques.

3. The virtual wall device can restrain the robot cruising in the first work area or the second work area by detecting the barrier detection signal and emitting said virtual wall signal with a specification method. No complicated component necessary for its function allows for simple and economical manufacturing of said virtual wall device.

Further scope of the applicability of the present invention will become apparent from the detailed description given hereinafter. However, it should be understood that the detailed description and specific examples, while indicating preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art from this detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will become more fully understood from the detailed description given hereinbelow and the accompanying drawings which are given by way of illustration only, and thus are not limitative of the present invention.

FIGS. 1-4 illustrate a system of confining movement actions of a robot and the behavior of movement of robot.

FIG. 5 illustrates the components of the virtual wall and the component of the robot.

FIG. 6 illustrates the method of confining robot movement actions applying between the virtual wall device and the robot.

FIG. 7 also shows the steps of the robot receiving the virtual barrier signal passing or dodging from the set emitting range of the virtual barrier signal.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

FIG. 1 illustrates the system of confining movement actions of a robot comprising a virtual wall device 1 and a robot 2. The virtual wall device 1 is set in a work space 3, such as the floor beside a doorframe or the upper edge of a doorframe in an indoor space. The virtual wall device 1 is capable of receiving a barrier detection signal specific-directionally or omni-directionally in a set receiving range 10 within the work space 3. When the virtual wall device 1 receives the barrier detection signal in the set receiving range 10, said virtual wall device 1 emits a virtual wall signal over a set emitting range 12 which virtually divides the work space 3 into a first work area 30 and a second work area 32. Moreover, the virtual wall device 1 disables the emission of the virtual wall signal if it no longer receive the barrier detection signal in said set receiving range 10.

The robot 2 disclosed in the present application can be any robot which is capable of moving and is additionally functional for other specific purposes, such as a cleaning robot or service robot. Said robot 2 is able to emit a barrier detection signal while cruising within the work space 3 based on one of multiple movement modes such as random mode, spiral route mode, S-shaped route mode or intelligent pattern route mode. Moreover, when the robot 2 moves into said set emitting range 12 of the virtual wall signal and receives said virtual wall signal, it chooses whether or not to cross or the set emitting range 12 based on receiving of different virtual wall signals, which is how the system and the method confine said robot 2 to operating in the first work area 30 or the second work area 32.

In order to control the robot 2 for passing or leaving said set emitting range 12, the virtual wall device 1 receiving the barrier detection signal further modulates an escape command to a virtual wall signal, wherein the escape command can be a command to move backward, to be redirected, or the combination of both for the robot 2. Moreover, the virtual wall device 1 further has an identity recognition data and confinement time data stored in it, in which the identity recognition data is a unique data of coding and the confinement time data is considered as the time limitation for confining said robot 2 in the second work area 32. The confinement time data is subject to be adjusted with regard to the size of the second work area 32. For example, it can be set as 30 minutes for a room between 23 and 33 square meters or 20 minutes for a room smaller than 23 square meters for different plans. The virtual wall device 1 is provided with a switch for the change of the confinement time data to adapt the sizes room. Furthermore, said virtual wall device 1 combines then modulates the escape command, the identity recognition data, and the confinement time data to said virtual wall signal.

Said robot 2 receiving the virtual wall signal demodulates the received virtual wall signal to the escape command, identity recognition data, and confinement time data, then writes a passing record 20 which includes a previous receiving history of said identity recognition data and confinement time data. The robot 2 may start to countdown the confinement time in any time of the period from said robot 2 first entering to said robot 2 first leaving a specific emitting range of the virtual wall signal. In an example embodiment, the countdown of confinement time starts when the robot 2 leaves the set emitting range 12.

FIGS. 1-4 demonstrate the behavior of movement of robot 2 when receiving said virtual wall signal, comprising the following.

1. The first behavior:

The robot 2 moving in the first work area 30 receives the virtual wall signal and demodulates the virtual wall signal to the escape command, identity recognition data, and confinement time data. Said robot 2 verifies the history of said identity recognition data ever recorded from the passing record 20. The robot 2 denies to execute the escape command and moves across said set emitting range 12 of the virtual wall signal to the second work area 32 since no identical identity recognition data is found in the passing record 20.

2. The second behavior:

The robot 2 cruising in the second work area 32 receives the virtual wall signal and demodulates the virtual wall signal to the escape command, identity recognition data, and confinement time data. Said robot 2 verifies the history of said identity recognition data ever recorded from the passing record 20; the . The robot 2 further executes the escape command in case of identical identity recognition data is discovered from the passing record 20 but confinement time still remains, thereby confining said robot 2 in the second work area 32.

3.The third behavior:

The robot 2 cruising in the second work area 32 receives the virtual wall signal and demodulates the virtual wall signal to the escape command, identity recognition data, and confinement time data. Said robot 2 verifies the history for said identity recognition data ever recorded in the passing record 20. The robot 2 denies to execute the escape command in case of identical identity recognition data is found in the passing record 20 but the confinement time has no remaining, thereby confining said robot 2 to pass the set emitting range 12 of the virtual wall signal to the first work area 30.

4. The fourth behavior:

The robot 2 cruising in said first work area 30 receives the virtual wall signal and demodulates the virtual wall signal to the escape command, identity recognition data, and confinement time data. Said robot 2 verifies the history for the identity recognition data ever recorded in the passing record 20. The robot 2 executes the escape command in case of identical identity recognition data is found in the passing record 20 but the confinement time has no time remaining, thereby confining said robot 2 in the first work area 30.

FIG. 5 shows the components of the virtual wall device 1 in the present invention, comprising a device body 14, a first signal receiver unit 16, a virtual wall signal emitter unit 18 and a virtual wall control unit 19. The device body 14 is settled in the work space 30. The first signal receiver unit 16 is installed on said device body 14 used in receiving the barrier detection signal. The virtual wall signal emitter unit 18 is also installed on the device body 14, and is used in emitting the virtual wall signal toward the work space 3 or disabling the emission of the virtual wall signal. The virtual wall control unit 19 is installed on the device body 14 and connected to the first signal transmitter unit 16 and also the virtual wall signal transmitter unit 18. Said virtual wall control unit 19 is used in receiving the barrier detection signal via the first signal receiver unit 16 and triggering the virtual wall signal transmitter unit 18 to emit said virtual wall signal in responding to the barrier detection signal. Once the virtual wall control unit 19 receives the barrier detection signal, it triggers the transmitting of the escape command, the identity recognition data, and the confinement time data from the virtual wall control unit 19 to said virtual wall signal transmitter unit 18 in which the escape command, the identity recognition data, and the confinement time data are demodulated to the virtual wall signal.

FIG. 5 also illustrates the component of said robot 2 in the present disclosure, comprising a robot body 22, a barrier detection unit 24, a virtual wall signal receiver unit 26 and a robot control unit 28. The robot body 22 moves and operates inside the work space 3. The barrier detection unit 24 on the robot body 22 emits the barrier detection signal outward by which the robot 2 can detect any barrier in its patrol area. The virtual wall signal receiver unit 26 settled on the robot body 22 is used in receiving a virtual wall signal and demodulating the virtual wall signal to said escape command, identity recognition data, and confinement time data. The robot control unit 28 which is installed in the robot body 22 and connected to the barrier detection unit 24 and the virtual wall signal receiver unit 26, it orders the barrier detection unit 24 for emitting a barrier detection signal continuously while the robot body 22 is cruising. The robot control unit 28 receiving the virtual wall signal through the virtual wall signal receiver unit 26 is further confined by the escape command, the identity recognition data, and the confinement time data, which are demodulated from said virtual wall signal. The confinement of the robot body 22 includes moving across the set emitting range 12 from the first work area 30 to the second work area 32, moving across the set emitting range 12 from said second work area 32 to said first work area 30, or dodging from the preset transmitting range 12.

FIG. 6 illustrates the method of confining robot movement actions applying between the virtual wall device and the robot, as shown in following steps:

(S601) the robot transmits a barrier detection signal while cruising in a work space;

(S602) the virtual wall device executes either step (S603) based on the barrier detection signal received within a set receiving range in the work space; otherwise, executes step (S606);

(S603) the virtual wall device in the work space receives the barrier detection signal within the set receiving range and emits a virtual wall signal by which the work space is divided into a first work area and a second work area;

(S604) the moving robot executes either step (S605) based on the virtual wall signal received or step (S601);

(S605) the robot moves across or stays away from the set emitting range of the virtual wall signal optionally, and confines itself in the first work area or the second work area in accordance with the received virtual wall signal;

(S606) the virtual wall device, which receives no barrier detection signal in the set receiving range, executes either step (S607) when emitted virtual wall signal or step (S602); and

(S607) the virtual wall device, which receives no barrier detection signal within the set receiving range during emission of the virtual wall signal, disables the emission of the virtual wall signal and executes step (S601).

In the present disclosure, the virtual wall device receiving a barrier detection signal modulates a combination of the escape command, the identity recognition data, and the confinement time data to a virtual wall signal in order to instruct the robot to leave the set emitting range. Moreover, a passing record of said robot is used to record confinement time data and the identity recognition data previously received by the robot. FIG. 7 also shows the steps of the robot receiving the virtual barrier signal passing or dodging from the set emitting range of the virtual barrier signal, comprising:

(S701) the robot receiving the virtual wall signal executes step (S702) if a history of identical identity recognition data is discovered in the passing record, otherwise, it executes step (S703);

(S702) the robot verifies no identical identity recognition from the passing record, indicating the robot is located within the first work area, and the robot refuses to execute the escape command until it moves across the set emitting range of the virtual wall signal and records the identity data in the passing record;

(S703) the robot cruising in the second work area and receiving a virtual wall signal executes step (S704) based on confirming of identical identity recognition data in the passing record and confinement time expiring, otherwise, it executes step (S705);

(S704) the robot moving in the second work area receives the virtual wall signal and denies executing the escape command based on the discovery of identical identity recognition data in the passing record and the confinement time is expiring, said robot passes the set emitting range of the virtual wall signal, and enters the first work area for execution of step (S706);

(S705) the robot cruising in the second work area receives the virtual wall signal and executes the escape command based on the discovery of identity recognition data in the passing record and the confinement time is not expiring, and the robot is therefore confined in the second work area for execution of step (S703);

(S706) the robot operating in the first work area receives the virtual wall signal then executes the escape command according to the discovery of identity recognition data in the passing record and the confinement time is expiring, which confines it to the first work area.

In conclusion, the robot in the present disclosure executes the escape command directly without requirement of an algorithm of avoidance as found in U.S. Pat. No. 7,579,803 in which a barrier avoidance algorithm to prevent a robot from any barrier signal is executed. Furthermore, it is not necessary to add any new component on the robot in the present disclosure, which reduces the costs of robot manufacturing.

In the present disclosure, the virtual wall device only emits a virtual signal after receiving the barrier detection signal. The drawback of high power consumption in U.S. Pat. No. 7,579,803 is therefore resolved because there is no necessity of continuous transmission for the barrier signal device.

Moreover, when compared to the mobile robot in China Patent 102048499, fewer components are required for the robot in present invention to accomplish the tasks of cleaning rooms in succession. In addition, there is no need for said virtual wall device in the present invention to reply for the response signal from the mobile robot, thereby achieving lower power consumption as well.

When multiple virtual wall devices are settled in the work space, said space can be virtually divided into several work areas. Because unique identity recognition data and specific confinement time data are assigned to each of the virtual wall devices, the robot is therefore able to travel for specific time but confined in said work area as scheduled by the user. Briefly, the present invention indeed provides non-discovered and unexpected effect when compared to previous robots.

The descriptions above are examples of embodiments for better understanding, which do not restrict the scope of the system of confining robot movement actions and a method thereof, and any equivalent change or modification without departing from the scope thereof should be covered in claims herein. It can be seen from above descriptions that the system of confining robot movement actions and a method thereof with effects and advantages over conventional operation of confining robot which meets patentability including novelty and non-obviousness. 

1. A system of confining robot movement actions, comprising: a virtual wall device set in a work space receiving a barrier detection signal in a set receiving range, emitting a virtual wall signal in a set emitting range, dividing the work space into a first work area and a second work area when receiving the barrier detection signal, and topping emitting the virtual wall signal when no longer receiving the barrier detection signal; and a robot operating in the work space, emitting the barrier detection signal receiving the virtual wall signal in the set emitting range of the virtual wall device, and deciding whether or not to cross the set emitting range in order to confine the robot to the first work area or the second work area.
 2. The system of confining robot movement actions of claim 1, wherein the virtual wall device receives the barrier detection signal and modulates an escape command which controls the robot escaping from the emitting range to the virtual wall signal.
 3. The system of confining robot movement actions of claim 1, wherein the escape command is an action command to the robot, comprising backward, redirecting, or a combination thereof.
 4. The system of confining robot movement actions of claim 1, wherein the virtual wall device further comprises an identity recognition data and a confinement time data, and the virtual wall device generates said the virtual wall signal by combining and modulating the escape command, the identity recognition data, and the confinement time data; and the confinement time data is a setting time of the robot being confined in the second work area.
 5. The system of confining robot movement actions of claim 4, wherein: the robot receives and demodulates the virtual wall signal to the escape command, the identity recognition data, and the confinement time data; the robot further has a passing record which records a history record of whether or not the identity recognition data and the confinement time data have been received; the robot countdowns the confinement time in accordance with the confinement time data since the robot first entering and leaving the range of the virtual wall signal; the robot further performs multiple behaviors when receiving the virtual wall signal, the multiple behaviors comprising: a first behavior in which the robot operating in the first work area receives the virtual wall signal and verifies no identical identity recognition data from the history of the passing record, the execution of the escape command is denied, and the robot enters the second work area; a second behavior in which the robot operating in the second work area receives the virtual wall signal, verifies identical identity recognition data from the history of the passing record and the confinement time is not expiring, and execution of the escape command is accepted for confining the robot operating in the second work area; a third behavior in which the robot operating in the second work area receives the virtual wall signal, verifies identical identity recognition data from the history of the passing record and the confinement time is expiring, and execution of the escape command is denied then the robot enters the second work area; a fourth behavior in which the robot operating in the first work area receives the virtual wall signal, verifies identical identity recognition data from the history of the passing record and the confinement time is expiring, and execution of the escape command is accepted for confining the robot operating in the first work area.
 6. The system of confining robot movement actions of claim 1, wherein the virtual wall device comprises: a device body set in the work space; a first signal receiver unit set on the device body for receiving the barrier detection signal; a virtual wall signal emitter unit set on the device body for providing the emitting of the virtual wall signal toward the work space; a virtual wall control unit set on the device body connecting to the first signal receiver unit and the virtual wall signal emitter unit; wherein the virtual wall control unit receives the barrier detection signal via the first signal receiver unit, and triggers the virtual wall signal emitter unit for the emitting of the virtual wall signal in accordance with the barrier detection signal.
 7. The system of confining robot movement actions of claim 1, wherein the robot comprises: a robot body having the ability of moving in the work space; a barrier detection unit set on the robot body emitting a barrier detection signal toward the work space for detecting barriers around; a virtual wall signal receiver unit set on the robot body the virtual wall signal when the robot enters the set emitting range of the virtual wall signal; and a robot control unit set on the robot body connecting to the barrier detection unit and the virtual wall signal receiver unit, and triggering the barrier detection unit for the emitting of the barrier detection signal when the robot body is moving; wherein the robot control unit receives the virtual wall signal via the virtual wall signal receiver unit, decides whether or not to cross the set emitting range of the virtual wall signal in accordance with the demodulation outcomes of the virtual wall signal, which confines the robot body moving from the first work area to the second work area, moving from the second work area to the first work area, or staying in the present work area.
 8. A method of confining robot movement action applied among a virtual wall device and a robot, comprising: emitting a barrier detection signal of the robot which is moving in a work space; detecting and receiving the barrier detection signal of the virtual wall device in a set receiving range within the work space, wherein receiving of the barrier detection signal of the virtual wall device triggers the emitting of a virtual wall signal of the virtual wall device, dividing the work space into a first work area and a second work area; and receiving the virtual wall signal of the robot; wherein receiving of the virtual wall signal of the robot further is the accordance of passing or escaping from the set emitting range of the virtual wall signal, confining the moving of the robot in the first work area or the second work area.
 9. A method of confining robot movement action applied among a virtual wall device and a robot of claim 8, wherein receiving of the barrier detection signal of the virtual wall device generates the virtual wall signal by modulating an escape command, an identity recognition data and a confinement time data, wherein the escape command controls the robot escaping from the emitting range of the virtual wall device; wherein setting of a passing record of the robot recording a history record of whether receiving the identity recognition data or not and the confinement time data, the robot further verifies the passing record when receiving the virtual wall signal and decides to pass or escape the set emitting range of the virtual wall signal in accordance with several steps, comprising: verifying the existence of the identity recognition data from the passing record when the robot receives the virtual wall signal; verifying no identity recognition data from the passing record indicates the presence of the robot in the first work area, the robot denying execution of the escape command until the robot passing the set emitting range of the virtual wall signal, entering the second work area and recording the passing record with the identity recognition data; recognizing the expiration status of the confinement time data at the time of which the robot receiving the virtual wall signal and verifying a history record of the identity recognition data from the passing record triggers whether or not the robot passes the range of the virtual wall signal; wherein recognizing the expiration as a non-expired status in the second work area triggers the robot executing the escape command, confining the robot in the second work area; recognizing the expiration of the confinement time data as an expired status in the second work area triggers the robot denying the execution of the escape command, allowing the entering of the robot to the first work area; and recognizing the expiration of the confinement time data as an expired status in the first work area triggers the robot denying the execution of the escape command, confining the robot in the first work area. 